CN107139906A - A kind of automobile safety distance early warning, emergency braking system and its early warning, braking method - Google Patents
A kind of automobile safety distance early warning, emergency braking system and its early warning, braking method Download PDFInfo
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- CN107139906A CN107139906A CN201710283054.7A CN201710283054A CN107139906A CN 107139906 A CN107139906 A CN 107139906A CN 201710283054 A CN201710283054 A CN 201710283054A CN 107139906 A CN107139906 A CN 107139906A
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- early warning
- car
- speed
- detection unit
- control unit
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of automobile safety distance early warning, emergency braking system and its early warning, braking method, belong to brake system of car field.Early warning, emergency braking system are included apart from detection unit, speed detection unit, data receiver circuit, central control unit, device driver module, urgent electric control hydraulic braking arrangement and language prior-warning device, the barrier and the real-time range information of this car detected apart from detection unit is transferred to central control unit through data receiver circuit, and the barrier velocity information that speed detection unit is detected is transferred to central control unit through data receiver circuit；Central control unit judges vehicle condition and control language prior-warning device or the work of urgent electric control hydraulic braking arrangement by analyzing and processing the real-time range, the velocity information that receive.Early warning can be identified to various vehicle front barriers in the present invention, and in case of emergency realizes automobile brake, and reduction personal safety and safety of property harm improves vehicle safety.
Description
Technical field
The invention belongs to brake system of car field, more particularly to a kind of automobile safety distance early warning, emergency braking system
And its early warning, braking method.
Background technology
With the continuous improvement of people's living standards, use of the automobile in life is increasingly popularized, it has also become current society
Can most important communications and transportation, walking-replacing tool.But as automobile quantity constantly increases, and the nothing that scientific and technological progress is brought
People's driving technology is gradually ripe, and its safety problem is also increasingly highlighted, when running into emergency case, and front truck is for some reason such as in high speed
Barrier slows down, stopped, and runs into various motor vehicles, non-motor vehicle etc. suddenly when jaywalking, it is likely that due to the after reaction speed of people
Degree cause to touch on the brake not in time, lose emergent behave consciousness etc., such maloperation is easy to cause serious traffic safety thing
Therefore, cause the personal safety and safety of property loss for being difficult to estimate.
Relevant research shows that in the vehicle rear-end collision accident triggered by Driver's Factors, 31% accident is due to driver
Sleepy or absent minded and reflection is not made to potential danger and is caused, 49% accident is due to driver to dangerous
The severity of braking slow or take of reflection not enough causes, 20% accident be due to driver braked with maximum intensity but not enough and
Shi Yinqi.Intelligent vehicle is auxiliary drives function for research and development, the intelligence control system of early warning and brake hard can be especially carried out, in dangerous situation
Under, the behavior of people can be replaced, and then avoid accident from occurring or reduce causality loss degree.
Existing automatic emergency brake system such as neutral net emergency braking system use traffic route dangerous driving work more
The modes such as condition collection, vehicular traffic traveling process simulation test set up systematic sample, could be set after being analyzed and processed to data
Collision avoidance strategy is counted, but this kind of system is strong to the dependence of sample data, it is understood that there may be overlearning or the not enough situation of study,
And train more difficult, construction cycle length, development cost are big.
The content of the invention
For the risk for reducing rear-end collision, colliding, reduce various losses caused by car accident, the invention provides one
Kind can automatic early-warning and the brake system of car of brake hard and its early warning, braking method, automobile can be effectively reduced
The risk of accident, reduces the generation of security incident, reduces the person, property loss to greatest extent under dangerous situation.
To reach above-mentioned purpose, the present invention, which is adopted the following technical scheme that, to be achieved：
A kind of automobile safety distance early warning, emergency braking system, including apart from detection unit, speed detection unit, data
Receiving circuit, central control unit, device driver module, urgent electric control hydraulic braking arrangement and language prior-warning device,
It is described apart from detection unit, speed detection unit be respectively used to gather the real-time range of front obstacle and this car,
The real-time speed of front obstacle, and the data of collection are transferred to central control unit by the data receiver circuit, institute
Device driver module is stated respectively with central control unit, urgent electric control hydraulic braking arrangement and language prior-warning device to be connected；Institute
The velocity information that central control unit is additionally operable to obtain this car is stated, central control unit is real-time by front obstacle and this car
The velocity information of distance, the real-time speed of front obstacle and this car is estimated to the safe condition of this car, so as to send pre-
Alert or brake hard instruction, the startup of control language prior-warning device or urgent electric control hydraulic braking arrangement.
It is described to use range sensor apart from detection unit in such scheme.
In such scheme, the speed detection unit uses velocity sensor.
In such scheme, the central control unit uses single-chip microcomputer.
In such scheme, the device driver module is by amplifying triode, relay group into for providing urgent automatically controlled liquid
Press the electric energy needed for brake apparatus, language prior-warning device.
A kind of automobile safety distance early warning, the early warning of emergency braking system, braking method, for speed 40km/h, 50km/
Tri- speed stages of h, 60km/h carry out early warning and Braking Analysis processing, by the early warning distance threshold value for setting friction speed gear
With retro-speed threshold value；In one-level early warning determining program, when detecting the exhausted of front obstacle and this car apart from detection unit
During triggering early warning distance threshold value of adjusting the distance, language prior-warning device starts, and points out this car to slow down or brake；Judge journey in two stage braking
In sequence, when detecting front obstacle and the absolute distance triggering early warning distance threshold value of this car apart from detection unit, while speed
When detection unit detects the real-time speed triggering retro-speed threshold value of front obstacle, urgent electric control hydraulic braking arrangement is opened
It is dynamic, this car braking parking, while this car hazard warning flasher is opened.
Compared with prior art, the invention has the advantages that：
Early warning of the present invention, emergency braking system can quickly be recognized the real-time vehicle condition and Chinese herbaceous peony of this car
Complicated traffic, and corresponding control instruction is sent, to tackle emergency；If Chinese herbaceous peony is stationary obstruction, center control
Unit then judges whether to need early warning or brake hard according to the braking distance under current vehicle speed；If Chinese herbaceous peony is moving obstacle,
Whether central control unit then calculates current state according to current vehicle speed, moving obstacle speed, braking distance, braking time
Safe, then central control unit sends corresponding control instruction；Language prior-warning device, which starts, if in early warning range reminds
Driver is slowed down or braked；Brake hard measure must be such as taken, then urgent electric control hydraulic braking arrangement starts, automobile is stopped
Car.The modification in any structure is not made in the early warning of the present invention, emergency braking system to the original brakes of automobile, thus will not
The normal driving of driver is influenceed, does not change the driving custom of driver.The present invention can enter to various vehicle front barriers
Row identification early warning, and automobile brake is in case of emergency realized, reduction personal safety and safety of property harm improves running car peace
Quan Xing.
Brief description of the drawings
Fig. 1 is early warning of the present invention, the structural representation of emergency braking system；
Fig. 2 is decision flow chart of the central control unit of the present invention to real-time road.
Embodiment
Illustrate embodiments of the invention below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to this.
Early warning shown in Fig. 1, in the structural representation of emergency braking system, early warning, emergency braking system include distance and passed
Sensor, velocity sensor, data receiver circuit, single-chip microcomputer, device driver module, urgent electric control hydraulic braking arrangement and it can broadcast
The loudspeaker of playback frequency file (voice of prompting is pre-set).
Range sensor gathers the traffic information of this front side in real time, judges in early warning range with the presence or absence of various static
Or mobile risk barrier, such as motor vehicle, guardrail, collection front obstacle and the real-time range of this car, and by collection
Real-time range is transferred to single-chip microcomputer by data receiver circuit；Velocity sensor is used for the front obstacle that collection has detected that
Real time speed information, and single-chip microcomputer is transferred to by data receiver circuit.Device driver module respectively with single-chip microcomputer, urgent automatically controlled
Hydraulic brake system and loudspeaker are connected, and device driver module is by amplifying triode, relay group into for providing urgent electricity
Control the electric energy needed for hydraulic brake system, loudspeaker.Single-chip microcomputer is additionally operable to obtain the velocity information of this car, and passes through preceding object
Whether the velocity information of thing and the real-time range of this car, the real-time speed of front obstacle and this car analyzes Chinese herbaceous peony barrier to this
Car current running state constitutes a threat to, so as to send early warning or brake hard instruction, starts loudspeaker or urgent electric-controlled hydraulic
Brake apparatus.
Early warning, the course of work of emergency braking system are：Barrier and this car is exhausted before the real-time collecting vehicle of range sensor
Information of adjusting the distance simultaneously is sent to single-chip microcomputer by data receiver circuit；The speed letter of barrier before the real-time collecting vehicle of velocity sensor
Cease and single-chip microcomputer is sent to by data receiver circuit；Single-chip microcomputer sends analog voltage instruction and by device driver module respectively
Control language prior-warning device or urgent electric control hydraulic braking arrangement start, stopped；Loudspeaker sends " current vehicle to driver
Fast ##Km/h, please slow down " or the warning information such as " current vehicle speed ##Km/h please brake "；Urgent electric control hydraulic braking arrangement makes
The brake hard parking of this car.
Single-chip microcomputer is as shown in Figure 2 to the decision flow chart of real-time road.Detected when in range sensor detection range
After risk barrier thing, range sensor and velocity sensor are simultaneously by front obstacle information (front obstacle and this car
The real time speed information of real-time range, front obstacle) single-chip microcomputer is passed to, single-chip microcomputer combines this car present speed to judge this
Shi Lukuang；Wherein, the real-time range of barrier and this car is St, and the real-time speed of barrier is Vt, and this car present speed is V0。
The automobile brake criterion distance of table 1
The automobile brake criterion distance under different speeds is understood by the data in table 1, with reference to actual social application, the present invention
Early warning and Braking Analysis processing are carried out for tri- speed stages of speed 40km/h, 50km/h, 60km/h, it is considered in actual conditions
The identification accuracy of person's development speed and sensor, the active braking distance standard that the present invention is used is as shown in table 2.
The automobile brake distance that the present invention of table 2 is used
As the real-time range St ＞ 50m of barrier and this car, (《People's Republic of China's law on road traffic safety is implemented
Regulations》80th article motor vehicle is travelled on a highway, should be with same track front truck when speed is more than 100 kilometers per hour
The distance that more than 100 meters of holding；When speed is less than 100 kilometers per hour, can suitably it shorten with same track leading vehicle distance, but most
Small distance must not be less than 50 meters.) thinking now road condition safety, Ben Che can normally travel；If during St≤50m, judging that this car is worked as
Preceding speed V0Whether 60km/h is more than, if V0＞ 60km/h, then single-chip microcomputer send control instruction, loudspeaker starts and point out " currently
Running distance is excessively near, speed ##km/h, please slow down "；If V0≤ 60km/h, then continue to judge whether St is more than 38m, if St ＞
38m, then it is assumed that now road condition safety, can normally travel；As St≤38m, then vehicle velocity V is judged0Whether 50km/h is more than, if V0
＞ 50km/h, then single-chip microcomputer send control instruction, loudspeaker simultaneously points out that " current running distance is excessively near, speed ##km/h, please subtract
Speed "；If V0Whether≤50km/h, then continue to judge St more than 29m, if St ＞ 29m, then it is assumed that now road condition safety, can be normal
Traveling；As St≤29m, then program is transferred to two stage braking determining program.In two stage braking decision flow chart,
SAbsolutely=St+VAbsolutely*t (1)
Wherein, SAbsolutelyFor Ben Che and the absolute distance of front obstacle, VAbsolutelyIt is defined as the speed relatively of Ben Che and front obstacle
Degree, t is the actuation time of driver.
In actual scene, see that emergency makes car slow down, it is necessary to which a period of time, this includes driving to touching on the brake from driver
The reaction time for the person of sailing and the response time of automobile；The reaction time of person to person is different, and the reaction time of professional athlete is only
0.1s, the reaction time of ordinary people is in more than 0.2s.If it is considered that the reaction time and the response time of automobile of driver, normally
In the case of needed for total time about 0.5-0.6s, actually in addition to running into unexpected situation, the actuation time of most of drivers is about
1s is needed, therefore t=1s is set.
First determine whether Ben Che and the absolute distance S of front obstacleAbsolutelyWhether 20m is more than, if SAbsolutely＞ 20m, then single-chip microcomputer send out
Control instruction is sent, loudspeaker starts and pointed out " current running distance is excessively near, speed ##km/h, please slow down "；If SAbsolutely≤ 20m, then
Judge this vehicle speed V0Whether 60km/h is more than, if V0＞ 60km/h, then single-chip microcomputer send control instruction, urgent electric-controlled hydraulic system
Dynamic device starts, automobile emergency brake；If V0≤ 60km/h, then continue to judge SAbsolutelyWhether 13m is more than, if SAbsolutely＞ 13m, then monolithic
Machine sends control instruction, and loudspeaker starts and pointed out " current running distance is dangerous, please brakes in time "；If SAbsolutely≤ 13m, then judge
This vehicle speed V0Whether 50km/h is more than, if V0＞ 50km/h, then single-chip microcomputer send control instruction, urgent electric control hydraulic braking dress
Put startup, automobile emergency brake；If V0≤ 50km/h, then judge SAbsolutelyWhether 8m is more than, if SAbsolutely＞ 8m, then single-chip microcomputer, which is sent, controls
Instruction, loudspeaker starts and pointed out " current running distance is dangerous, please brakes in time "；If SAbsolutely≤ 8m, then judge this vehicle speed V0
Whether 40km/h is more than, if V0＞ 40km/h, then single-chip microcomputer send control instruction, urgent electric control hydraulic braking arrangement starts, vapour
Car brake hard；If V0≤ 50km/h, then single-chip microcomputer send control instruction, loudspeaker starts and points out that " current running distance is endangered
Danger, please brakes in time "；This is arrived, two stage braking judges to terminate.In addition, in automobile emergency brake, single-chip microcomputer can also control vapour
Car hazard warning lamp is opened, and points out rear car to avoid.
In summary, the present invention can detect identification vehicle front barrier state, then make as needed early warning or
Brake hard etc. is reacted, last one of the security perimeter travelled as vehicle, and the person, property can be reduced to greatest extent and is damaged
Lose, improve safe driving coefficient.
For the present invention preferred embodiment, but the present invention is not limited to above-mentioned embodiment to the embodiment, not
In the case of the substantive content of the present invention, any conspicuously improved, replacement that those skilled in the art can make
Or modification belongs to protection scope of the present invention.
Claims (6)
1. a kind of automobile safety distance early warning, emergency braking system, it is characterised in that including apart from detection unit, velocity measuring
Unit, data receiver circuit, central control unit, device driver module, urgent electric control hydraulic braking arrangement and language early warning dress
Put,
It is described to be respectively used to gather front obstacle and the real-time range, front of this car apart from detection unit, speed detection unit
The real-time speed of barrier, and the data of collection are transferred to central control unit by the data receiver circuit, it is described to set
Standby drive module is connected with central control unit, urgent electric control hydraulic braking arrangement and language prior-warning device respectively；In described
Centre control unit is additionally operable to obtain the velocity information of this car, central control unit by front obstacle and this car it is real-time away from
Velocity information from, the real-time speed of front obstacle and this car is estimated to the safe condition of this car, so as to send early warning
Or brake hard instruction, the startup of control language prior-warning device or urgent electric control hydraulic braking arrangement.
2. a kind of automobile safety distance early warning, emergency braking system as claimed in claim 1, it is characterised in that the distance
Detection unit uses range sensor.
3. a kind of automobile safety distance early warning, emergency braking system as claimed in claim 1, it is characterised in that the speed
Detection unit uses velocity sensor.
4. a kind of automobile safety distance early warning, emergency braking system as claimed in claim 1, it is characterised in that the center
Control unit uses single-chip microcomputer.
5. a kind of automobile safety distance early warning, emergency braking system as claimed in claim 1, it is characterised in that the equipment
Drive module is by amplifying triode, relay group into needed for for providing urgent electric control hydraulic braking arrangement, language prior-warning device
Electric energy.
6. a kind of automobile safety distance early warning, the early warning of emergency braking system, braking method, it is characterised in that for speed
Tri- speed stages of 40km/h, 50km/h, 60km/h carry out early warning and Braking Analysis processing, by setting friction speed gear
Early warning distance threshold value and retro-speed threshold value；In one-level early warning determining program, when detecting preceding object apart from detection unit
During the absolute distance triggering early warning distance threshold value of thing and this car, language prior-warning device starts, and points out this car to slow down or brake；Two
In level braking determining program, when the absolute distance that front obstacle and this car are detected apart from detection unit triggers early warning distance threshold
Value, while when speed detection unit detects the real-time speed triggering retro-speed threshold value of front obstacle, urgent electric-controlled hydraulic
Brake apparatus starts, this car braking parking, while this car hazard warning flasher is opened.
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| CN201710283054.7A CN107139906A (en) | 2017-04-26 | 2017-04-26 | A kind of automobile safety distance early warning, emergency braking system and its early warning, braking method |
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| CN201710283054.7A CN107139906A (en) | 2017-04-26 | 2017-04-26 | A kind of automobile safety distance early warning, emergency braking system and its early warning, braking method |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107839671A (en) * | 2017-12-07 | 2018-03-27 | 柳州市融智科技服务有限公司 | It is a kind of for engineering machinery based on MCU intelligent brake control devices |
| CN108944864A (en) * | 2018-06-20 | 2018-12-07 | 温州大学 | The vehicle collision avoidance devices and methods therefor under situation is shared based on position |
| CN109084793A (en) * | 2018-07-27 | 2018-12-25 | 北京航空航天大学 | A kind of grid enhancing automatic Pilot multi-level alarm method based on Beidou |
| CN109080604A (en) * | 2018-08-14 | 2018-12-25 | 格陆博科技有限公司 | A kind of automatic emergency brake system based on AEB system |
| CN109733358A (en) * | 2018-12-28 | 2019-05-10 | 芜湖鑫芯微电子有限公司 | A kind of automobile safety driving system and its drive manner based on proximity sensor |
| CN111002904A (en) * | 2019-12-20 | 2020-04-14 | 铁将军汽车电子股份有限公司 | Front collision early warning system and configuration method and device thereof |
| CN111114516A (en) * | 2019-12-25 | 2020-05-08 | 一汽解放汽车有限公司 | Control method and device of automatic emergency braking system and heavy commercial vehicle |
| CN111402611A (en) * | 2020-03-19 | 2020-07-10 | 盐城工业职业技术学院 | Traffic accident signal transmitting and receiving device |
| CN111506087A (en) * | 2020-05-21 | 2020-08-07 | 安徽江淮汽车集团股份有限公司 | Self-adaptive car following method, device, equipment and storage medium for automatic driving car |
| CN111717177A (en) * | 2020-06-24 | 2020-09-29 | 多伦科技股份有限公司 | Driving test vehicle safety monitoring device |
| CN112389425A (en) * | 2020-11-18 | 2021-02-23 | 无锡洛科奇科技有限公司 | Anti-collision induction system of intelligent robot |
| CN112660083A (en) * | 2021-01-15 | 2021-04-16 | 三一汽车制造有限公司 | Emergency braking device, vehicle and vehicle braking control method |
| CN112703134A (en) * | 2018-09-18 | 2021-04-23 | 采埃孚商用车系统汉诺威有限公司 | Method for emergency braking of a motor vehicle and emergency braking system |
| CN114228639A (en) * | 2021-12-23 | 2022-03-25 | 东莞市中港通电子科技有限公司 | Early warning danger avoiding device and method for dead zone of cart |
| CN115052395A (en) * | 2022-05-17 | 2022-09-13 | 北京佳讯飞鸿技术有限公司 | Intelligent control system and method for railway tunnel illumination based on radar |
| CN116229759A (en) * | 2022-11-18 | 2023-06-06 | 淮安方圆锻造有限公司 | Vehicle braking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107839671A (en) * | 2017-12-07 | 2018-03-27 | 柳州市融智科技服务有限公司 | It is a kind of for engineering machinery based on MCU intelligent brake control devices |
| CN108944864A (en) * | 2018-06-20 | 2018-12-07 | 温州大学 | The vehicle collision avoidance devices and methods therefor under situation is shared based on position |
| CN109084793B (en) * | 2018-07-27 | 2020-09-01 | 北京航空航天大学 | Grid-enhanced automatic driving multi-stage warning method based on Beidou |
| CN109084793A (en) * | 2018-07-27 | 2018-12-25 | 北京航空航天大学 | A kind of grid enhancing automatic Pilot multi-level alarm method based on Beidou |
| CN109080604A (en) * | 2018-08-14 | 2018-12-25 | 格陆博科技有限公司 | A kind of automatic emergency brake system based on AEB system |
| CN112703134A (en) * | 2018-09-18 | 2021-04-23 | 采埃孚商用车系统汉诺威有限公司 | Method for emergency braking of a motor vehicle and emergency braking system |
| CN109733358A (en) * | 2018-12-28 | 2019-05-10 | 芜湖鑫芯微电子有限公司 | A kind of automobile safety driving system and its drive manner based on proximity sensor |
| CN109733358B (en) * | 2018-12-28 | 2021-04-30 | 芜湖易泽中小企业公共服务股份有限公司 | Automobile safe driving system based on proximity sensor and driving method thereof |
| CN111002904A (en) * | 2019-12-20 | 2020-04-14 | 铁将军汽车电子股份有限公司 | Front collision early warning system and configuration method and device thereof |
| CN111114516B (en) * | 2019-12-25 | 2021-04-13 | 一汽解放汽车有限公司 | Control method and device of automatic emergency braking system and heavy commercial vehicle |
| CN111114516A (en) * | 2019-12-25 | 2020-05-08 | 一汽解放汽车有限公司 | Control method and device of automatic emergency braking system and heavy commercial vehicle |
| CN111402611A (en) * | 2020-03-19 | 2020-07-10 | 盐城工业职业技术学院 | Traffic accident signal transmitting and receiving device |
| CN111506087A (en) * | 2020-05-21 | 2020-08-07 | 安徽江淮汽车集团股份有限公司 | Self-adaptive car following method, device, equipment and storage medium for automatic driving car |
| CN111717177A (en) * | 2020-06-24 | 2020-09-29 | 多伦科技股份有限公司 | Driving test vehicle safety monitoring device |
| CN112389425A (en) * | 2020-11-18 | 2021-02-23 | 无锡洛科奇科技有限公司 | Anti-collision induction system of intelligent robot |
| CN112660083A (en) * | 2021-01-15 | 2021-04-16 | 三一汽车制造有限公司 | Emergency braking device, vehicle and vehicle braking control method |
| CN112660083B (en) * | 2021-01-15 | 2022-03-25 | 三一汽车制造有限公司 | Emergency braking device, vehicle and vehicle braking control method |
| CN114228639A (en) * | 2021-12-23 | 2022-03-25 | 东莞市中港通电子科技有限公司 | Early warning danger avoiding device and method for dead zone of cart |
| CN115052395A (en) * | 2022-05-17 | 2022-09-13 | 北京佳讯飞鸿技术有限公司 | Intelligent control system and method for railway tunnel illumination based on radar |
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Application publication date: 20170908 |